key: Japan

  • iRoCo: Intuitive Robot Control From Anywhere Using a Smartwatch

    Summary: This paper introduces a framework for ubiquitous human-robot collaboration using a single smartwatch and smartphone. By integrating probabilistic differentiable filters, we optimize a combination of precise robot control and unrestricted user movement from ubiquitous devices. The system is available as WearMocap. We demonstrate and evaluate the effectiveness of WearMoCap in practical teleoperation and drone…

  • Ubiquitous Robot Control Through Multimodal Motion Capture Using Smartwatch and Smartphone Data

    Presented as an interactive poster with motion capture game at the ICRA24 Workshop – Advancing wearable devices and applications through novel design, sensing, actuation, and AI. Abstract: We present an open-source library for seamless robot control through motion capture using smartphones and smartwatches. Our library features three modes: Watch Only Mode, enabling control with a…

  • Enabling Stateful Behaviors for Diffusion-based Policy Learning

    Presented at the ICRA 2024 Workshop—Back to the Future: Robot Learning Going Probabilistic Abstract: While imitation learning provides a simple and effective framework for policy learning, acquiring consistent actions during robot execution remains a challenging task. Existing approaches primarily focus on either modifying the action representation at data curation stage or altering the model itself,…